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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Changes to px4-stm32f4discovery for upstream Nuttx
This commit is contained in:
David Sidrane
committed by
Lorenz Meier
Lorenz Meier
parent
feda3e8c5c
commit
f149adac54
@@ -47,11 +47,6 @@
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#include <nuttx/compiler.h>
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#include <stdint.h>
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#include <stm32.h>
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#include <arch/board/board.h>
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#define UDID_START 0x1FFF7A10
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/****************************************************************************************************
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* Definitions
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****************************************************************************************************/
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@@ -112,26 +107,15 @@ __BEGIN_DECLS
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extern void stm32_spiinitialize(void);
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extern void stm32_usbinitialize(void);
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/****************************************************************************
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* Name: nsh_archinitialize
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/****************************************************************************************************
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* Name: stm32_usbinitialize
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*
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* Description:
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* Perform architecture specific initialization for NSH.
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* Called to configure USB IO.
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*
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* CONFIG_NSH_ARCHINIT=y :
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* Called from the NSH library
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*
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* CONFIG_BOARD_INITIALIZE=y, CONFIG_NSH_LIBRARY=y, &&
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* CONFIG_NSH_ARCHINIT=n :
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* Called from board_initialize().
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*
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****************************************************************************/
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****************************************************************************************************/
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#ifdef CONFIG_NSH_LIBRARY
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int nsh_archinitialize(void);
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#endif
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extern void stm32_usbinitialize(void);
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#include "../common/board_common.h"
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@@ -35,10 +35,10 @@
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* @file px4discovery_init.c
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*
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* PX4-stm32f4discovery specific early startup code. This file implements the
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* nsh_archinitialize() function that is called early by nsh during startup.
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* board_app_initialize() function that is called early by nsh during startup.
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*
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* Code here is run before the rcS script is invoked; it should start required
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* subsystems and perform board-specific initialisation.
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* subsystems and perform board-specific initialization.
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*/
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/****************************************************************************
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@@ -53,12 +53,13 @@
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#include <errno.h>
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#include <nuttx/arch.h>
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#include <nuttx/spi.h>
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#include <nuttx/i2c.h>
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#include <nuttx/board.h>
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#include <nuttx/spi/spi.h>
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#include <nuttx/i2c/i2c_master.h>
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#include <nuttx/sdio.h>
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#include <nuttx/mmcsd.h>
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#include <nuttx/analog/adc.h>
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#include <nuttx/gran.h>
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#include <nuttx/mm/gran.h>
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#include <stm32.h>
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#include "board_config.h"
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@@ -82,13 +83,13 @@
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lowsyslog(__VA_ARGS__)
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# define message(...) syslog(__VA_ARGS__)
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# else
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# define message(...) printf(__VA_ARGS__)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lowsyslog
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# define message syslog
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# else
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# define message printf
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# endif
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@@ -116,22 +117,51 @@ __EXPORT void
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stm32_boardinitialize(void)
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{
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/* configure LEDs */
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up_ledinit();
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board_autoled_initialize();
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}
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/****************************************************************************
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* Name: nsh_archinitialize
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* Name: board_app_initialize
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*
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* Description:
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* Perform architecture specific initialization
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* Perform application specific initialization. This function is never
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* called directly from application code, but only indirectly via the
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* (non-standard) boardctl() interface using the command BOARDIOC_INIT.
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*
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* Input Parameters:
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* arg - The boardctl() argument is passed to the board_app_initialize()
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* implementation without modification. The argument has no
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* meaning to NuttX; the meaning of the argument is a contract
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* between the board-specific initalization logic and the the
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* matching application logic. The value cold be such things as a
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* mode enumeration value, a set of DIP switch switch settings, a
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* pointer to configuration data read from a file or serial FLASH,
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* or whatever you would like to do with it. Every implementation
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* should accept zero/NULL as a default configuration.
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*
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* Returned Value:
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* Zero (OK) is returned on success; a negated errno value is returned on
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* any failure to indicate the nature of the failure.
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*
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****************************************************************************/
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#include <math.h>
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__EXPORT int nsh_archinitialize(void)
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__EXPORT int board_app_initialize(uintptr_t arg)
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{
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#if defined(CONFIG_HAVE_CXX) && defined(CONFIG_HAVE_CXXINITIALIZE)
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/* run C++ ctors before we go any further */
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up_cxxinitialize();
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# if defined(CONFIG_EXAMPLES_NSH_CXXINITIALIZE)
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# error CONFIG_EXAMPLES_NSH_CXXINITIALIZE Must not be defined! Use CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE.
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# endif
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#else
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# error platform is dependent on c++ both CONFIG_HAVE_CXX and CONFIG_HAVE_CXXINITIALIZE must be defined.
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#endif
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/* configure the high-resolution time/callout interface */
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hrt_init();
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@@ -159,3 +189,7 @@ __EXPORT int nsh_archinitialize(void)
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return OK;
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}
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__EXPORT void board_crashdump(uintptr_t currentsp, FAR void *tcb, FAR const uint8_t *filename, int lineno)
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{
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}
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@@ -44,7 +44,7 @@
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#include "stm32.h"
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#include "board_config.h"
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#include <arch/board/board.h>
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#include <nuttx/board.h>
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/*
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* Ideally we'd be able to get these from up_internal.h,
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@@ -60,37 +60,39 @@ extern void led_off(int led);
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extern void led_toggle(int led);
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__END_DECLS
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__EXPORT void led_init()
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__EXPORT void board_autoled_initialize(void)
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{
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/* Configure LED1 GPIO for output */
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px4_arch_configgpio(GPIO_LED1);
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stm32_configgpio(GPIO_LED1);
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}
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__EXPORT void led_on(int led)
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__EXPORT void board_autoled_on(int led)
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{
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if (led == 1) {
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/* Pull down to switch on */
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px4_arch_gpiowrite(GPIO_LED1, false);
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stm32_gpiowrite(GPIO_LED1, false);
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}
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}
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__EXPORT void led_off(int led)
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__EXPORT void board_autoled_off(int led)
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{
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if (led == 1) {
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/* Pull up to switch off */
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px4_arch_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED1, true);
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}
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}
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__EXPORT void led_toggle(int led)
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{
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if (led == 1) {
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if (px4_arch_gpioread(GPIO_LED1)) {
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px4_arch_gpiowrite(GPIO_LED1, false);
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if (stm32_gpioread(GPIO_LED1)) {
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stm32_gpiowrite(GPIO_LED1, false);
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} else {
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px4_arch_gpiowrite(GPIO_LED1, true);
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stm32_gpiowrite(GPIO_LED1, true);
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}
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}
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}
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@@ -82,10 +82,10 @@ __EXPORT void stm32_usbinitialize(void)
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/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
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#ifdef CONFIG_STM32_OTGFS
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px4_arch_configgpio(GPIO_OTGFS_VBUS);
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stm32_configgpio(GPIO_OTGFS_VBUS);
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/* XXX We only support device mode
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px4_arch_configgpio(GPIO_OTGFS_PWRON);
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px4_arch_configgpio(GPIO_OTGFS_OVER);
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stm32_configgpio(GPIO_OTGFS_PWRON);
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stm32_configgpio(GPIO_OTGFS_OVER);
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*/
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#endif
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}
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@@ -103,6 +103,6 @@ __EXPORT void stm32_usbinitialize(void)
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__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
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{
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//ulldbg("resume: %d\n", resume);
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uinfo("resume: %d\n", resume);
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}
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